Fuzzy swinging-up with sliding mode control for third order cart-inverted pendulum system

Elsayed, B.A. and Hassan, Mohamed Mohsen Abdel-Naeim and Mekhilef, Saad (2015) Fuzzy swinging-up with sliding mode control for third order cart-inverted pendulum system. International Journal of Control Automation and Systems, 13 (1). pp. 238-248. ISSN 1598-6446, DOI https://doi.org/10.1007/s12555-014-0033-4.

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Official URL: http://link.springer.com/article/10.1007/s12555-01...

Abstract

Cart Inverted Pendulum (CIP) system is a benchmark problem in nonlinear automatic control. In this paper, two third-order differential equations were derived to create a combining model for the cart-pendulum with its DC motor dynamics. Motor voltage was considered the system input in the presented model. The friction between the cart and rail was included in the system equations through a nonlinear friction model. Fuzzy Swinging-up controller was designed to swing the pendulum to the upright position, once reaching the upward position; Sliding Mode Controller (SMC) is activated, to balance the system. In order to verify the performance of the proposed SMC, a Linear Quadratic Regulator Controller (LQRC) was suggested and compared with the proposed SMC. Simulation and experimental results have shown a significant improvement of the proposed SMC over LQRC where, the pendulum angle oscillations were decreased by 80 in the real implementation.

Item Type: Article
Funders: University of Malaya research grant (UMRG) RG118/11AET RP006E/13ICT
Additional Information: Ca4vh Times Cited:0 Cited References Count:20
Uncontrolled Keywords: Fuzzy control, nonlinear systems, sliding mode control, third-order cart-inverted pendulum system, stabilization, position, design,
Subjects: T Technology > T Technology (General)
T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering
Depositing User: Mr Jenal S
Date Deposited: 04 Aug 2015 02:00
Last Modified: 25 Oct 2019 05:33
URI: http://eprints.um.edu.my/id/eprint/13848

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